352-0545/02 – Automatic Control Theory (TAŘ)

Gurantor departmentDepartment of Control Systems and InstrumentationCredits6
Subject guarantordoc. Ing. Renata Wagnerová, Ph.D.Subject version guarantorIng. Pavel Šofer, Ph.D.
Study levelundergraduate or graduateRequirementCompulsory
Study languageEnglish
Year of introduction2015/2016Year of cancellation
Intended for the facultiesFS, USPIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
SOF009 Ing. Pavel Šofer, Ph.D.
VIT60 prof. Ing. Miluše Vítečková, CSc.
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 3+3
Part-time Credit and Examination 14+4

Subject aims expressed by acquired skills and competences

The subject “Theory of Automatic Control” belongs among basic subjects, which form the graduate profile of the student in master study program “Mechatronics”. Its objective is deepening and extension of knowledge of analysis and synthesis of the SISO linear discrete control systems, analysis and synthesis linear and nonlinear systems in state space.

Teaching methods



Analysis and synthesis of linear MIMO control systems. Analysis and synthesis of linear and nonlinear control systems in state space.

Compulsory literature:

BALÁTĚ, J. Automatické řízení (2. přepracované vydání). Praha: Nakladatelství BEN, 2004, 664 s. ISBN 80-7300-148-9 ŠVARC, I., MATOUŠEK R., ŠEDA, M., VÍTEČKOVÁ, M. Automatické řízení (2. vydání). Brno: Akademické nakladatelství CERM, 2011, 348 s. ISBN 978-80-214-4398-3 ŠULC, B., VÍTEČKOVÁ, M. Teorie a praxe návrhu regulačních obvodů. Praha: Vydavatelství ČVUT, 2004, 333 s. ISBN 80-01-03007-5 VÍTEČKOVÁ, M., VÍTEČEK, A. Základy automatické regulace (2.přepracované vydání). Ostrava: VŠB-TU Ostrava, 2008, 200 s. ISBN 978- 80-248-1924-2 http://books.fs.vsb.cz/ZRMS/zpetnovazebni-rizeni-mechatronickych-systemu.pdf http://books.fs.vsb.cz/ZRMS/closed-loop-control-of-mechatronic-system.pdf http://books.fs.vsb.cz/MatMet/ATR.htm http://books.fs.vsb.cz/cislicovaregulace/ VÍTEČKOVÁ, M., VÍTEČEK, A. Vybrané metody seřizování regulátorů. VŠB-TU Ostrava, Fakulta strojní, Ostrava 2011, 230 str., ISBN 978-80-248-2503-8 http://books.fs.vsb.cz/ZRMS/vybrane-metody-serizovani-regulatoru.pdf http://books.fs.vsb.cz/ZRMS/stavove-rizeni.pdf http://books.fs.vsb.cz/ZRMS/state-space-control.pdf http://books.fs.vsb.cz/Analyza/index.html http://books.fs.vsb.cz/SyntezaReg/ http://books.fs.vsb.cz/DeltaTransAS/index.htm OGUNNAIKE, B. A., RAY, W. H. (1994) Process Dynamics, Modeling, and Control. Oxford University Press, Oxford, 1994, 1260 p. ÅSTRÖM, K. J., HÄGGLUND, T. (1995) PID Controllers: Theory, Design, and Tuning. Second Edition. ISA – Instrument Society of America, Research Triangle Park, 1995, 343 p. SKOGESTAD, S., POSTLETHWAITE, I. (2005) Multivariable Feedback Control. Analysis and Design. Second Edition. John Wiley & Sons, River Street, 2005, 574 p. VÍTEČEK, A., VÍTEČKOVÁ, M., LANDRYOVÁ, L. Basic Principles of Automatic Control. VŠB-TU Ostrava, FS, 2012, 115 str. http://books.fs.vsb.cz/ZRMS/basic-principles-of-automatic-control.pdf FRANKLIN, G. F., POWELL, J. D., EMAMI-NAEIMI, A. (2002) Feedback Control of Dynamic Systems. Fourth Edition. Prentice-Hall, 2002, 910 p. http://books.fs.vsb.cz/NelSys/NelSys.pdf

Recommended literature:

DORF, R. C., BISHOP, R. H. Modern Control Systems. Tenth Edition. Pearson Prentice Hall, Upper Saddle River – New Jersey, 2004 GOODWIN G. C. – GRAEBE, S. F. – SALGADO, M. E. Control System Design. Pearson Education, Singapore, 2001 RAZÍM, M., ŠTECHA, J. Nelineární systémy. Ediční středisko ČVUT, Praha, 1997 ZÍTEK, P. – VÍTEČEK, A. 1999. Návrh a řízení podsystémů se zpožděními a nelinearitami. Vydavatelství ČVUT v Praze, Praha, 1999

Way of continuous check of knowledge in the course of semester

Conbined exam


Other requirements

Students have to prepare project.


Subject has no prerequisities.


Subject has no co-requisities.

Subject syllabus:

1. SISO advanced linear discrete and continuous control systems (with auxiliary controlled variable (cascade), with disturbance variable measurement, with auxiliary manipulated variable, Smith and modified Smith predictor, internal model control) 2. Modification of conventional controllers (2DOF controllers, anti-windup realization, filtration of derivative component). 3. Mathematical models of continuous and discrete MIMO systems (stationarity (t-invariance), realizability, transfer relations, minimum phase, etc.). 4. Block diagram algebra for MIMO systems (serial, parallel and feedback connection, basic transfer function matrices, etc.). 5. Stability of continuous and discrete MIMO control systems (characteristic equation, definitions, conditions and criteria of stability) 6. Autonomy and invariance of continuous and discrete MIMO systems (partial and full autonomy and invariance, conditions, properties, etc.). 7. Synthesis of continuous and discrete MIMO control systems (choice of sampling period, synthesis methods, properties, etc.). 8. State space models of continuous and discrete systems (stationarity (t-invariance), realizability, relations between transfer function matrices and state space models, etc.). 9. Solution of linear continuous state equations (solution in the time and complex variable doman, fundamental matrix, etc.). Discretization of linear continuous state space model. 10. Controllability, stabilizability, observability and detectability of linear continuous and discrete dynamic systems (decomposition, controllability and observability matrices, conditions, etc.) 11. Canonical forms of state space models of linear continuous dynamic systems (transformation matrices). 12. Design of continuous state space controller (procedure, properties, etc.) 13. Design of Luenberger observer (procedure, properties, etc.). 14. Integral state space control.

Conditions for subject completion

Full-time form (validity from: 2015/2016 Winter semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of pointsMax. počet pokusů
Credit and Examination Credit and Examination 100 (100) 51
        Credit Credit 35  20
        Examination Examination 65  16 3
Mandatory attendence participation: Participation in seminars min. 80%. Credit (max. 35 points, min. 20 points) - Students must complete two tests and submit three programs. Exam (max. 65 points, min. 24 points) - the written part consists of 5 examples, each worth 9 points, i.e., a total of 45 points (min. 12). The oral part consists of 2 theoretical questions, each for 10 points, the maximum is 20 points (min. 6).

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Conditions for subject completion and attendance at the exercises within ISP: Credit - Participation in the final test and completing individual tasks after agreement with the teacher. After receiving credit, they can take an exam that consists of a written and an oral part.

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Occurrence in study plans

Academic yearProgrammeBranch/spec.Spec.ZaměřeníFormStudy language Tut. centreYearWSType of duty
2024/2025 (N0714A270004) Mechatronics CMS P English Ostrava 1 Compulsory study plan
2023/2024 (N0714A270004) Mechatronics CMS P English Ostrava 1 Compulsory study plan
2022/2023 (N0714A270004) Mechatronics CMS P English Ostrava 1 Compulsory study plan
2021/2022 (N0714A270004) Mechatronics CMS P English Ostrava 1 Compulsory study plan
2020/2021 (N0714A270004) Mechatronics CMS P English Ostrava 1 Compulsory study plan
2019/2020 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 1 Compulsory study plan
2019/2020 (N0714A270004) Mechatronics CMS P English Ostrava 1 Compulsory study plan
2018/2019 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 1 Compulsory study plan
2017/2018 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 1 Compulsory study plan
2016/2017 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 1 Compulsory study plan
2015/2016 (N3943) Mechatronics (3906T006) Mechatronic Systems P English Ostrava 1 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner

Assessment of instruction

2021/2022 Winter
2018/2019 Winter
2017/2018 Winter